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2017 Chinese automation Congress, CAC 2017

作者： Xiong, Fei Yang, Bo Gao, Yizhao Yang, Jun Chen, Cailian Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781538635247

The estimation of state-of-charge (SOC) is the fundamental technology to improve battery working status and life. But severe external environment, dynamic nonlinearity of battery model, and measurement errors make SOC estimation challengable. In this paper, a multi-strategy probabilities based fusion method is proposed. It can combine the dynamic tracking capability of Proportional-Integral Observer (PIO) and noise tolerance capability of extend Kalman filter (EKF). The different abnormal issues, such as internal resistance change, capacity attenuation, data saturation and initialization error, may have a serious impact on the estimates. While the proposed method can guarantee high accuracy estimation and robustness under these issues. It tracks the changes of residual sequence dynamically, and the weighting coefficient can be real-time adjusted according to Bayesian analysis. In simulation, we test the algorithm performance under a variety of current load conditions and abnormal issues. Compared to other model-based methods, the proposed approach performs higher accuracy and robustness with moderate computational complexity. © 2017 IEEE.

关键词： Lithium-ion batteries

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Bifurcation analysis and control of quorum sensing network model 5

Bifurcation analysis and control of quorum sensing network m...

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5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2017

作者： Mei, Qicheng Liu, Feng Ren, Jie Sun, Fenglan Wang, Hua School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Chongqing400065 China Department of Mechanical Engineering Boston University BostonMA02215 United States

In this paper, a model is constructed to investigate the mechanism induced quorum sensing (QS) by coexisting of small RNA and signal molecule. The QS network model regulated by small RNAs is studied. The condition of the stability of the QS network is considered by using Routh-Hurwitz stability criterion. The conditions for the existence of Hopf bifurcation are obtained. Then, a linear feedback control is designed to make the system asymptotically stable. The numerical simulation is used to verify the results of theoretical analysis.

关键词： Hopf bifurcation

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The Ellipsoidal Invariant Set of Fractional Order systems Subject to Actuator Saturation:The Convex Combination Form

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IEEE/CAA Journal of Automatica Sinica 2016年第3期3卷 311-319页

作者： Kai Chen Junguo Lu Chuang Li School of Mechanical and Electrical Engineering Hainan University Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

The domain of attraction of a class of fractional order systems subject to saturating actuators is investigated in this paper. We show the domain of attraction is the convex hull of a set of ellipsoids. In this paper, the Lyapunov direct approach and fractional order inequality are applied to estimating the domain of attraction for fractional order systems subject to actuator saturation. We demonstrate that the convex hull of ellipsoids can be made invariant for saturating actuators if each ellipsoid with a bounded control of the saturating actuators is invariant. The estimation on the contractively invariant ellipsoid and construction of the continuous feedback law are derived in terms of linear matrix inequalities (LMIs). Two numerical examples illustrate the effectiveness of the developed method. © 2014 Chinese Association of automation.

关键词： Algebra Computational geometry Linear matrix inequalities Numerical methods Saturation (materials composition)

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Non-parametric modeling of double-link flexible robot manipulator based on NNARX model structure 19th

Non-parametric modeling of double-link flexible robot manipu...

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19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016

作者： Jamali, Annisa Mat Darus, Intan Zaurah Abdulhussain, Ali Tokhi, M.O. Automation and Control Laboratory Faculty of Mechanical Engineering Universiti Teknologi Malaysia SkudaiJohor81300 Malaysia Department of Automatic Control and System Engineering University of Sheffield United Kingdom

ISBN: (纸本)9789813149120

The double-link flexible robot manipulator (DLFR) is a highly non-linear system. The development of existing linear models involves a lot of assumptions and approximations in order to reduce the complex calculation. Due to that, this paper presents a non-linear Auto Regressive model with eXogenous inputs (NARX) for DLFR and neural network is used to predict the non-linear segment. Thus, NNARX structure is used to develop four separate model of double link flexible manipulator from torque input to hub angle and from torque input to end point accelerations of each link. The performance of NNARX models are validated via One Step Ahead, Mean Squared Error and correlation tests. © 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved.

关键词： Flexible manipulators

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Arc Approximation Algorithm of Spatial Movements for Industrial Robots

Arc Approximation Algorithm of Spatial Movements for Industr...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Oleg I. Borisov Vladislav S. Gromov Anton A. Pyrkin Igor V. Petranevsky Alexcy O. Klyunin Alexcy A. Bobtsov Department of Control Systems and Informatics ITMO University St. Petersburg Russia Institute of Automation Hangzhou Dianzi University Hangzhou Zhejiang Province P. R. China Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering St. Petersburg Russia

A new path planning algorithm for industrial robots is proposed in this paper. The algorithm is based on arc approximation of the given reference path. Such solution allows to reduce amount of the reference points, decrease code size and computational costs, increase performance of operations and simplify programming complex movements. The study represents extension of the previous work to the case of planning spatial movements in three-dimensional space. Experiments using a 6-DOF (degrees of freedom) articulated robot simulating typical industrial operations (e.g. welding, engraving, polishing) were carried out and corresponding experimental results are reported in the paper.

关键词： Service robots Planning Approximation algorithms Robot kinematics Welding Software

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Cooperative robust output regulation for second-order nonlinear multi-agent systems with an unknown exosystem

Cooperative robust output regulation for second-order nonlin...

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IEEE Annual Conference on Decision and control

作者： Yi Dong Jie Chen Jie Huang Department of Automation Chinese University of Hong Kong Shatin N.T. Hong Kong State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Department of Mechanical and Automation Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong

The cooperative robust output regulation problem for a class of second-order nonlinear multi-agent systems with an exactly known exosystem has been studied recently. This paper further studies the same problem for a class of second-order nonlinear multi-agent systems subject to an unknown exosystem. We first show that the problem can be converted into the adaptive stabilization problem for a modified augmented system composed of the given multi-agent system and the distributed internal model. Due to the uncertain parameter in the exosystem, the augmented system is a nonlinear multi-input system with both dynamic and static uncertainties. By combining the adaptive control technique and the robust control technique, we solve our problem by a distributed adaptive robust state feedback controller.

关键词： Multi-agent systems Mathematical model Robustness Robust control automation Electronic mail Nickel

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Filtering and fusion of consensus-based multi-agent systems with imperfect constraints

Filtering and fusion of consensus-based multi-agent systems ...

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World Congress on Intelligent control and automation (WCICA)

作者： Yunze Cai Hengyu Duan Hua O. Wang Weidong Zhang Department of Automation Key Laboratory of System Control and Information Processing Shanghai China Department of Mechanical Engineering Boston University Boston MA USA

ISBN: (纸本)9781467384155

In state estimation (filtering) applications, state vector of a target always includes some a priori constraints, and utilizing such constraints will help obtain a more precise estimation. While in some cases, a significant issue lies in that when such constraints are not perfect, how we exploit them and improve the performance of estimation. Information contains “imperfection” sometimes because our knowledge of the real world is not absolutely right. This essay proposes a deep research on multi-agent systems with imperfect constraints and highly artificial intelligence: firstly, by using the projection method, results of traditional Kalman Filtering are projected onto the constrain subspace; secondly, based on consensus, this essay has thoroughly introduced the local information exchange and fusion strategy; and thirdly, simulations on target tracking have proved the feasibility and precision of the algorithms mentioned within this essay.

关键词： Decision support systems Intelligent control automation Next generation networking DVD

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Cooperative output regulation for networked multi-agent systems based on the self-tuning adaptive distributed observer

Cooperative output regulation for networked multi-agent syst...

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American control Conference

作者： Yi Dong Jie Chen Jie Huang Department of Automation Nanjing University of Science and Technology China The State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology China Department of Mechanical and Automation Engineering the Chinese University of Hong Kong HK

ISBN: (纸本)9781467386838

In this paper, we first propose a self-tuning adaptive distributed observer for a multi-agent system, which is capable of providing the estimation of the leader's signal to various followers without assuming all the followers know the system matrix of the leader and which avoids calculating the observer gain off-line. We then further develop an adaptive distributed control law to solve the cooperative output regulation problem for linear heterogeneous multi-agent systems. This control law offers two advantages in that it makes the least use of the information of the network and the information of the leader system, and it avoids calculating the observer gain.

关键词： Observers Multi-agent systems Communication networks Closed loop systems Nickel Decentralized control Multi-agent systems Closed loop systems decentralised control networks(communications) Output Regulation Observers Nickel Telecommunications control law Self tuning

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Adaptive controller Implementation for Surface Robotic Vessel 34

Adaptive Controller Implementation for Surface Robotic Vesse...

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第三十四届中国控制会议

作者： WANG Jian BORISOV Oleg GROMOV Vladislav PYRKIN Anton BOBTSOV Alexey Institute of Automation Hangzhou Dianzi UniversityXiasha Higher Education Zone Department of Control Systems and Informatics ITMO University Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering

ISBN: (纸本)9781467374439

In this paper a problem of a dynamic positioning system design for a surface robotic vessel is addressed. The considered plant is represented as a MIMO system which comprised of three independent SISO dynamical channels. Each of them corresponds to the particular coordinate of the boat. All the SISO channels are controlled by, so called, virtual control inputs generated using a new algorithm of output adaptive control which is an extension of the known robust approach known as "consecutive compensator". Then after an inverse MIMO transformation real control signals are calculated for actuators. To finalize the investigation the proposed algorithm is successfully applied to the robotic complex of vessel motion modelling.

关键词： Adaptive control,MIMO systems,Robotics

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On the ellipsoidal invariant set of fractional order systems subject to actuator saturation 34

On the ellipsoidal invariant set of fractional order systems...

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第三十四届中国控制会议

作者： LI Chuang LU Junguo School of Mechanical and Electrical Engineering Hainan University Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China

ISBN: (纸本)9781467374439

This paper investigates the method for estimating the domain of attraction of the origin for a class of fractional order system subject to actuator saturation with the fractional order 0 < α < 1. The sufficient condition on the asymptotic stability are obtained using Lyapunov direct approach and fractional order inequality. The method for the estimation on the contractively invariant ellipsoid is derived in terms of linear matrix inequalities(LMIs), and hence can be easily adopted for controller synthesis. Two numerical examples are provided to illustrate the effectiveness of the developed method.

关键词： Fractional order,Saturation,Domain of attraction,Invariant ellipsoid

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